CN102037327A - Method of and computer implemented system for generating a junction view image - Google Patents
Method of and computer implemented system for generating a junction view image Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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Abstract
A method of generating a junction view is disclosed. The method comprises : - acquiring a first junction from a map database; - acquiring a second junction from the map database, wherein the first and second junction are connected by means of an intermediate road segment; - determining a characteristic of the intermediate road segment between the first and second junction from the map database; and - if the characteristic of the road segment a pplies to a predefined condition: - adjusting the road geometry resulting in a shorter intermediate road segment; and - generating the junction view image visualizing the first and second junctions using the shorter intermediate road segment. The method pr ovides a solution to visualize in one image two decision points which will follow each other in a short time when traveling through said two decision points, i.e. two junctions.
Description
Technical field
The present invention relates to produce field for the point of crossing view image of in navigation application, using.The invention further relates to a kind of computer-implemented system and computer program and a kind of processor readable media that possesses described computer program that is used to produce the point of crossing view image.
Background technology
In vehicle, use navigational system just becoming more and more general.Usually, the on-board navigation computer systematic analysis from the data of GPS (GPS) sensor and possible additional movements sensor and with these data with from the data combination of digital map database and determine the physical location and the speed of vehicle whereby.
Some navigational system be provided for in the map data base with the road joining near the data conversion that is associated of object become the algorithm of the 3 dimension skeleton views (that is point of crossing view image) that many users are easier to understand.The point of crossing view is through simplifying, and the 3D of road conditions is illustrated in the motor-driven situation and helps the driver.Can an arrow strengthen the point of crossing view, described arrow indication when the driver go to the destination of expectation and must make during by the point of crossing motor-driven.The point of crossing view is represented from a certain height that is higher than road and the described point of crossing a bit watched before described point of crossing and the road that is connected.EP 1681537A1 and EP 1681538A1 disclose a kind of navigational system with lively point of crossing view.The point of crossing view can further be linked to the ad-hoc location in the map data base, i.e. point of crossing.
US 6611753 discloses the navigational system that a kind of skeleton view with improvement shows.Described navigational system is to show the skeleton view of joining with respect to an angle of " earth ".Based on the complicacy of shown joining, increase described angle so that further " top " view to be provided.The angle of the increase of skeleton view is improved the understanding to the road in the joining.
Summary of the invention
The present invention seeks to provide a kind of method that produces the point of crossing view image of complex cross point.Complex cross point according to the present invention relative to each other separates a short-range relatively situation for two point of crossing wherein.The purpose of this invention is to provide point of crossing view forming process, it provides gratifying visual results in fluoroscopy images.This purpose problem solves by the subject matter of individual requests item.The individual requests item is at the embodiment with advantage.
According to the present invention, described method comprises:
-obtain first point of crossing from map data base;
-obtaining second point of crossing from described map data base, wherein said first point of crossing is connected by middle of the road line highway section with second point of crossing;
-determine characteristic from described first point of crossing and the described middle of the road line highway section between second point of crossing of described map data base; And
If the described characteristic of-described road section is applicable to the condition that defines in advance, then:
-adjust road geometry, thus short middle of the road line highway section produced; And
-use described short middle of the road line highway section to produce the point of crossing view image that is shown one's color in described first and second point of crossing.
In some patterns of navigational system, described system shows the skeleton view of point of crossing and next maneuvering command that the driver will carry out along the suggestion route.The present invention is based on following identification: the route of advising by will in a short cycle, crossing but two point of crossing can not in a single point of crossing view image, clearly showing one's color.The example of this kind situation often appears on highway outlet and the interconnection point.Highway outlet is generally first point of crossing and in 300 meters, and second point of crossing will be carried out corresponding maneuvering command and occurs usually along with the driver.Under the driving speed of 120km/h, will spend about 10 seconds from first point of crossing and advance to second point of crossing.This means, and the user at most only has and checked that display was to obtain next maneuvering command in 9 seconds.This time is shorter, especially when you consider that the driver is unfamiliar with joining and for security reasons must checks road with the most of the time.Therefore, according to the present invention, if this kind situation will present the point of crossing view image that is shown one's color in two point of crossing.According to the present invention, adjust the road section that (that is, shortening) connects two point of crossing in the following manner: shown one's color in an image in two point of crossing, described image is easy to by most of users' understandings and better decision point observability is provided.
In an embodiment of the present invention, described method further comprises:
-obtain the road geometry of the road section that forms first and second point of crossing; And wherein
-adjust road geometry to carry out an operation to obtain road geometry through adjusting, described operation is rolled the highway section away from corresponding to moving second point of crossing towards first point of crossing and being associated, and wherein said generation action is suitable for producing the schematic perspective view diagram picture corresponding to described road geometry through adjusting.
In further embodiment of the present invention, the adjustment road geometry means road geometry is mapped in first, second and third district, each has first, second and third corresponding section length respectively described district, and wherein second boundary line that first boundary line is located and second point of crossing is mapped between described second district and the 3rd district that is mapped between described first district and second district, first point of crossing is located.
These districts are provided for locating and adjusting the simple framework of road geometry, so that the schematic perspective view diagram picture shows one's color two point of crossing in understandable mode.
In an embodiment of the present invention, adjust road geometry and further comprise with so that the level and smooth filter action of road geometry, described filter action is carried out after road geometry being mapped in the respective area.These features reduce the vision scrambling effect in the schematic perspective view diagram picture.
In an embodiment of the present invention, described method further comprises: the maneuvering command of first and second point of crossing is passed in-generation; And wherein producing the point of crossing view image further is superimposed on showing one's color of first and second point of crossing with the view with maneuvering command through arranging.These features further strengthen the schematic perspective view diagram picture.
In an embodiment of the present invention, the characteristic in middle of the road line highway section is that the length and the condition of the road section between first point of crossing and second point of crossing are that described length is in the pre-confining spectrum.Preferably, described pre-confining spectrum is 20 meters to 300 meters.
In another embodiment of the present invention, described characteristic is to use with first point of crossing is associated with road section between second point of crossing to advance to the needed traveling time in second point of crossing from first point of crossing through defining gait of march, and described condition is that described traveling time is shorter than the value of defining in advance.Preferably, described value of defining in advance is 10 seconds.
The purpose of this invention is to provide a kind of make computer-implemented system to produce to be used for make point of crossing view image that two continuous point of crossing show one's color and the method that the described image and the corresponding point of crossing of database is linked or show described image in understandable mode.
Description of drawings
Hereinafter will use several exemplary embodiments to discuss the present invention in more detail with reference to the accompanying drawings, in the accompanying drawing
Fig. 1 shows the process flow diagram according to point of crossing of the present invention view production process;
The example that Fig. 2 graphic extension is adjusted according to road geometry of the present invention; And
Fig. 3 a to 3c show unmodified through the road surface image of ortho-rectification and first example of corresponding point of crossing view image;
Fig. 4 a shows according to of the present invention modified through the road surface image of ortho-rectification and first example of corresponding point of crossing view image to 4c;
Fig. 5 is the block diagram that is used to implement the illustrative computer system of described method according to of the present invention;
Another example that Fig. 6 graphic extension is adjusted according to road geometry of the present invention.
Fig. 7 a to 7c show unmodified through the road surface image of ortho-rectification and second example of corresponding point of crossing view image; And,
Fig. 8 a shows according to of the present invention modified through the road surface image of ortho-rectification and second example of corresponding point of crossing view image to 8c;
In all are graphic, use identical reference numerals to refer to identical or similar part as much as possible.
Embodiment
Fig. 1 shows the general general introduction that is used to produce the flow process of point of crossing view image according to of the present invention.Represent from the road geometry through adjusting of the road that connects in a certain height that is higher than road and first and second point of crossing a bit watched before first point of crossing according to point of crossing of the present invention view image.Described method by obtain first and second point of crossing from digital map database to move 100.Described method can be used for producing in numerical data base, use or with the point of crossing view of numerical data base combination.The point of crossing view that is produced is through producing to strengthen the content of described database, so that better understanding complex cross point situation to be provided to the user.Use the guider of this kind database can use the point of crossing view image by the pseudo-real view that makes complex cross point situation show one's color to come with visual manner notify the user its near described complex cross point situation.The situation that must make two decision-makings in the short relatively time interval for user wherein according to complex cross point situation of the present invention, that is, when when Planned Route is advanced, the user will pass through two point of crossing in the described time interval.If the traveling time between two point of crossing is shorter, be less than 10 seconds for instance, the user will not have the sufficient time and check the display of two roads and guider so.If it checks that on road the time is oversize, it will miss the point of crossing view that is presented of second decision point and may take a wrong way so.If it checks that on display the time is oversize, its time that will not have abundance is prepared the motor-driven of next place, point of crossing safely so.Can be clear that, if guider has sufficient processing power, guider can comprise in order to carry out the method according to this invention and underway generation complex cross point view image and to determine that at each point of crossing guider is near the software of (no matter will show one's color as complex cross point or single point of crossing in described point of crossing) so.Perhaps, but precomputation point of crossing view and it is stored in map data base or other the suitable file.
Therefore, in action 102, determine the characteristic of the road section between first point of crossing and second point of crossing.In one embodiment, described characteristic is the length of road section.Determine described length according to the data in the digital map database.If digital map database comprises the information about the maximum or average gait of march of crossing over described road section, so described characteristic can be minimum or the averaging time that advances to second point of crossing from first point of crossing.Define condition in advance if described characteristic satisfies, will carry out action subsequently so.In one embodiment, the described condition that defines in advance is that the length of described road section is in the pre-confining spectrum.In one embodiment, described scope is 20 meters to 300 meters.In another embodiment, the described condition that defines in advance is to be in the pre-confining spectrum time of crossing described road section.In one embodiment, described scope is 1 to 10 second.
If described characteristic satisfies the described condition that defines in advance, obtain road geometry (among Fig. 1, action 104) from digital map database so.Road geometry comprises that from first and second point of crossing all sail and roll away from road section into.It should be noted that and when first and second point of crossing is obtained in action 100, to carry out action 104.
The left side chart of Fig. 2 shows the simple view of road geometry and the view through ortho-rectification that Fig. 3 a shows road section, and it shows corresponding track.To use Fig. 2 to come graphic extension in order to carry out the action subsequently 106 to 112 of the method according to this invention.
Fig. 2 shows the road geometry chart that comprises first point of crossing 210 and second point of crossing 220 in the left side.Exist and sail road section 212 into.Suppose that this highway section is the current road of driving of user just in the above.First point of crossing 210 is the positions in user the place ahead, wherein sails road section 212 into and is branched into two other road sections 214,216.Road section 214 is left for rolling road section and road section 216 away to the right for connecting the middle of the road line highway section of first point of crossing 210 and second point of crossing 220.At 220 places, second point of crossing, middle of the road line highway section 216 is branched into two and rolls highway section 218,222 away from.Obtain all information shown in the geometric configuration chart from digital map database about road geometry.
Usually, the point of crossing view image is shown one's color and corresponding to by camera a certain height place and the image to take with respect to a specific viewing angle of the earth or road surface above road or earth surface the road in beholder the place ahead.In navigation application, each manufacturer has its oneself the requirement about height and viewing angle.In addition, where it can be defined in defined position (that is, first point of crossing) projection with camera the place ahead in the view image of point of crossing, promptly on which bar image line.Which that can make road geometry (that is earth surface) in the view image of point of crossing these requirements be defined in and partly show one's color.In the view image of point of crossing, the width of object and the level-of-detail of described object reduce with the increase of described distance between objects along with watching a little.In current explanation, suppose in the view image of point of crossing, can make the 250 meter ball surfaces in the place ahead to show one's color.
Fig. 2 shows the road geometry chart in the zone of 250 meters of the place ahead and specific width, and described width can be corresponding to the width of the false horizon line in the view image of point of crossing.The area dividing that the place ahead is 250 meters becomes three districts, second district 202 that 50 meters first district is 200,25 meters and 175 meters the 3rd district 204.At this zone, will produce fluoroscopy images.The top line 205 in the 3rd district 204 is served as the local horizon in the schematic perspective view diagram picture.The road section that extend the top line top will be presented at.Top line 205 is served as the scenery limiter.Being first boundary line 201 and between second district 202 and the 3rd district 204, being second boundary line 203 between first district 200 and second district 202.
In action 106, first point of crossing 210 is mapped on first boundary line 201, and the rotation of road geometry chart is mapped in first district 200 so that sail highway section 212 in addition.In the example that is presented in Fig. 2, mapping makes sails the highway section into perpendicular to first boundary line 201 and placed in the middle.This will produce wherein horizontal view direction and be parallel to direction of sailing section 212 into so the point of crossing view image of watching road section along the direction of road section.It should be noted that perpendicular line in 250 meters the zone will be expressed as the line on the earth surface in the schematic perspective view diagram picture, it has the direction that is parallel to horizontal view direction.
Fig. 3 a shows the example of the part of the road network with a road geometric configuration, and the road geometry shown in the left side chart of described road geometry and Fig. 2 is suitable.Its demonstration has the view through ortho-rectification of road surface of the highway in four tracks.After 50 meters, described four tracks are branched into two tracks for twice and two 200 meters of right lane after first bifurcated are branched into two independent tracks.Fig. 3 b and 3c show for the point of crossing view image of using in guider.Described image comprises the local horizon, thereunder the skeleton view of the road geometry shown in the displayed map 3a.Above described local horizon is the expression of sky outline line.Fig. 3 b and 3c comprise the arrow that is superimposed on the road surface, and it indicates driver wherein should walk from the first lane on the right of Fig. 3 b and from the maneuvering command of the second lane on the right of Fig. 3 c.Although two bifurcateds (that is, decision point) are close toward each other, this is very difficult sees in the view image of the point of crossing of Fig. 3 b and 3c.
Therefore, according to the present invention, adjust road geometry to satisfy particular requirement.Make middle of the road line highway section 216 more short-and-medium in reality, so that shown one's color in understandable view in two point of crossing and road corresponding highway section than it.In the action 108 of Fig. 1, second point of crossing 220 is mapped on second boundary line or near it.This action is shown in the right road geometry chart of Fig. 2.The position of second point of crossing 220 is located along the position 220 ' that translation vector 224 moves and be positioned described translation vector and second boundary line 203 to intersect, and translation vector 224 has the direction that is parallel to the direction of sailing highway section 212 into.
After first point of crossing 210 and second point of crossing 220 ' are mapped in first and second boundary line 201 and 203 respectively, must adjust middle of the road line highway section 216 and two and roll road section 218,222 away to represent original road geometry.In one embodiment, middle of the road line highway section 216 is along the direction convergent-divergent that is parallel to translation vector 224, to obtain the middle of the road line highway section 216 ' through adjusting.Two are rolled away from highway section 218,222 and move and by road section 218 ' and 222 ' and show one's color in the chart of the right of Fig. 2 along translation vector 224.The result of action 110 is the road geometry chart through adjusting.
As mentioned above, second point of crossing 220 and two roll highway section 218,222 away from and move along translation vector 224.Middle of the road line highway section 216 ' through adjusting be original middle of the road line highway section 216 through zoom version.Therefore, middle highway section will change with respect to first and second point of crossing 210,220 and the orientation that is connected to other highway section of described point of crossing.This can produce impossible road geometry, wherein sail road section into and the angle rolled away between in the road section any one too big.Therefore, randomly, provide filter operation 112 to filter described road geometry through adjusting.This will produce and sail the highway section into to the level and smooth transformation of rolling the highway section away from from the point of crossing.Should be only carry out filter operation 112 when unrealistic with the angle of rolling the highway section away from sailing the highway section into.Design highway by taking into account design rule.Described rule is based on the permissible velocity of vehicle and in order to guarantee some secure contexts.This makes that the angle between highway and the highway outlet is unrealistic greater than (for instance) 45 degree.Under these situations, by filtering road geometry, will make changeover and will remove unrealistic angle the transformation from highway to outlet.Filtered road geometry will provide more real point of crossing view.
At last, in action 114, at the version generation perspective complex cross point view image through randomly filtering of road geometry through adjusting or described road geometry through adjusting.Described generation depend on for example watch the height, the viewing angle and first point of crossing parameters such as position in image.
The road geometry of road surfaces produce the path layer image according to describing with x, y and elevation information according to the shape of center line, road section, track counting.In addition, can obtain from map data base and pass preferably motor-driven that first and second point of crossing takes.Term " motor-driven " means the road section (track) before first point of crossing, the road section (track) in middle of the road line highway section and the sequence of the road section (track) after second point of crossing.Motor-driven for each, can produce the arrow plot picture.This arrow is superimposed on the path layer image.Described arrow will be to the best site of road of driver's indication by first and second point of crossing, i.e. track or track sequence.Action 114 embodiment is further through arranging producing the sign board layer, thereby with standardized way described sign board shown one's color.International application case PCT/NL2008/050471 in the undocumented co-applications discloses a kind of method that produces the sign board layer.Can obtain information on the sign board from digital map database or geographical data bank.XML can be used as in order to input information and produces the data layout of sign board layer.In addition, can produce background layer and sky contour line picture.
In case all layers are ready, then can produce compound 3D scenery, that is, and the point of crossing view image.For the combination equivalent layer, use so-called " blue box " technology.
Can tree, buildings and other road equipment (for example, anticollision barrier, lamppost, signal lamp, road sign etc.) further strengthen the point of crossing view image.For this reason, can use well-known spirit (sprite) in the recreation industry.Spirit is to be integrated into the two-dimensional/three-dimensional image of big scenery or animation and to describe a kind of so as to smooth image seamlessly being integrated into the technology of complicated three-dimensional scene.This technology produces the quite effect of reality with tree and other object, and need not carry out modeling to it in the 3D modeling software.Spirit makes us can automatically the 2D object be placed the adjacent domain of road and produces the quite image of reality.
The example of the road geometry through adjusting of the road network shown in Fig. 4 a displayed map 3a.In described road geometry through adjusting, after 50 meters, four tracks are branched into two tracks for twice.Now, two about 25 meters of right lane after first bifurcated are branched into two independent tracks.Fig. 4 b and 4c show for the point of crossing view image of using in guider.Fig. 4 b and 4c comprise the arrow that is superimposed on the road surface, and it is indicated the driver to walk from the first lane on the right respectively and reaches from the maneuvering command of the second lane on the right.Two continuous bifurcateds (that is decision point) are most clearly shown one's color in the view image of point of crossing.In addition, can produce an arrow with the preferred maneuvering command of indication along two point of crossing.This is impossible in the view image of the point of crossing of original road geometry and does not provide following information to the driver to the major general: its near the back will be very apace the and then point of crossing of another point of crossing.
In action another embodiment (not shown) of 108, second point of crossing 220 moves to the crossing position of the straight line and second boundary line 203 between first point of crossing 210 and second point of crossing.The advantage of this embodiment is that middle highway section 216 can be between convergent-divergent be with the reposition that is in second point of crossing 220 on first point of crossing 210 and second boundary line 203 rightly.Therefore, middle of the road line highway section does not change because second point of crossing and two roll the translation in highway section 218,222 away from respect to the orientation of first and second point of crossing.In most of the cases, then can skip filter operation 112 to road geometry through adjusting.
In another embodiment, second point of crossing 220 moves to the position that intersect middle of the road line highway section and second boundary line 203.In this embodiment, only use since first point of crossing geometric configuration in middle of the road line highway section of the joining of the middle of the road line highway section and second boundary line 203 to produce complex cross point view image.
Hereinbefore, described and only under the situation of characteristic in pre-confining spectrum in middle of the road line highway section, to have produced complex cross point view image.The length in described pre-confining spectrum and district depends on the parameter that is used to produce complex cross point view image, for example watches a little height, the viewing angle and first point of crossing position in the view image of point of crossing.These parameters define and shown one's color in skeleton view and the therefore length in three districts 200,202 and 204 in which zone.For each group parameter, can determine that one group of optimum range and section length are to be used for being shown one's color at a skeleton view in two point of crossing.It is known to be generally the those skilled in the art in order to the mathematics of determining respective length.In one embodiment, the length in second district defines the lower limit of pre-confining spectrum, and the higher limit length in second district and the 3rd district and that define pre-confining spectrum.If in order to the characteristic that determines whether to adjust road geometry is distance between first point of crossing and the position (wherein a line and sail into the highway section coincide and a line passes perpendicular to first-line second point of crossing), promptly, along having and sail road section into to first point of crossing of the vector of the equidirectional of first point of crossing and the distance between second point of crossing, the lower limit of so described scope corresponding to the length in second district and higher limit corresponding to second district and both length of the 3rd district.If the characteristic in middle of the road line highway section depend on distance and speed both, promptly by the needed traveling time in middle of the road line highway section, so described scope was defined by the minimum permission time between the presenting of two point of crossing views in the navigation application.Therefore, be shorter than the described minimum permission time, will produce complex cross point view so if advance to the needed traveling time in second point of crossing from first point of crossing.Described traveling time can be depending on maximum permission speed, the average velocity on the middle of the road line highway section or carries out the actual speed of the guider of the method according to this invention.
In given example, the direction in middle of the road line highway section 216 and the direction of sailing highway section 212 into more or less identical.Following situation may occur, centre portion is rapid bending to the right, and the distance between first point of crossing and second point of crossing is less than 200 meters.Under described situation, second point of crossing 220 be arranged in first, second and third district 200,202,204 outside and therefore second point of crossing will not show one's color in the point of crossing view image.For overcoming this problem, action 108 can be suitable for second point of crossing 220 is mapped in defining in advance on the part of second boundary line 203.Described part can be through selecting so that two beginnings parts of rolling road section 218 and 222 away from the view image of point of crossing, show one's color.Fig. 6 shows the principle according to the reorganization of describing of the action 108 of previous described action 108.Fig. 6 shows first district 200, second district 202 and the 3rd district 204.After action 106, described district is with respect to first point of crossing 210 and sail road section 212 location into.Second point of crossing 220 has the position at the region exterior in first, second and third district.If can only use the conversion vector that is parallel to the direction of sailing section into, so described conversion vector will not intersect with second boundary line 203.Therefore, definite vector corresponding to the bee-line between the part 203 ' of second point of crossing 220 and second boundary line 203.This vector is used to carry out the conversion from original road geometry to the road geometry through adjusting.Fig. 6 shows second point of crossing 220 through adjusting " and the middle highway section 216 through adjusting ".At the road geometry through adjusting of acquisition like this, can produce the point of crossing view that two point of crossing and indication is shown one's color in the mode that can understand and be easy to explain along an arrow of the maneuvering command of described two point of crossing.This embodiment makes us can be arranged in the situation formation complex cross point view on the right or the left side (will not showing one's color at the point of crossing view) of the first point of crossing view at second point of crossing under the situation of the adjustment of not carrying out road geometry.In this embodiment, move second point of crossing along two component of a vector, the primary vector component has the direction identical with direct of travel and secondary vector component and has direction perpendicular to the direct of travel distance.Secondary vector is used for moving second point of crossing from direct of travel in pre-confining spectrum.
Fig. 7 a shows the example of the part of the road network with a road geometric configuration, and the road geometry shown in the chart of described road geometry and Fig. 6 is suitable.Its demonstration has the view through ortho-rectification of road surface of the highway in four tracks.After 50 meters, described four tracks are branched into two tracks for twice and two 200 meters of right lane after first bifurcated are branched into two independent tracks.Fig. 7 b and 7c show for the point of crossing view image of using in guider.Fig. 7 b and 7c comprise the arrow that is superimposed on the road surface, and it indicates driver wherein should walk from the first lane on the right of Fig. 7 b and from the maneuvering command of the second lane on the right of Fig. 7 c.Although the road section between two bifurcateds (that is, decision point) is close toward each other, because the rapid relatively bending of road section, second bifurcated is not shown one's color in the view image of the point of crossing of Fig. 7 b and 7c.The window next door of point of crossing view image is dropped in the position of second bifurcated or point of crossing.
The example of the road geometry through adjusting of the road network shown in Fig. 8 a displayed map 7a.In described road geometry through adjusting, after 50 meters, described four tracks are branched into two tracks for twice.Now, two about 25 meters of right lane after first bifurcated are branched into two independent tracks.Fig. 8 b and 8c show for the point of crossing view image of using in guider.Fig. 8 b and 8c comprise the arrow that is superimposed on the road surface, and it is indicated the driver to walk from the first lane on the right respectively and reaches from the maneuvering command of the second lane on the right.Two continuous bifurcateds (that is, decision point) are most clearly shown one's color in the view image of point of crossing, crooked even middle highway section exists.In addition, can produce an arrow with the preferred maneuvering command of indication along two point of crossing.This is impossible in the view image of the point of crossing of original road geometry and does not provide following information to the driver to the major general: its near the back will be very apace the and then point of crossing of another point of crossing.It will only recognize that it is near the road section with rapid bending.
The embodiment that is presented will cross two point of crossing but producing the point of crossing that is shown one's color in two continuous point of crossing under the situation that can not clearly show one's color in described point of crossing in a single point of crossing view image in a short cycle.Can be clear that, also following situation can occur: will in described short cycle, cross three point of crossing.For this situation, in another embodiment of the present invention, described method further comprises: obtain the 3rd point of crossing from map data base, wherein second point of crossing is connected by middle of the road line highway section with the 3rd point of crossing.Determine the characteristic in the middle of the road line highway section between second point of crossing and the 3rd point of crossing (from the map data base) and/or the characteristic in the middle of the road line highway section between first point of crossing and the 3rd point of crossing.If the characteristic in the middle of the road line highway section between the characteristic in the middle of the road line highway section between second point of crossing and the 3rd point of crossing and/or first point of crossing and the 3rd point of crossing is applicable to the condition that defines in advance, must adjust the road geometry between first point of crossing and the 3rd point of crossing so.Be similar to previous embodiment, shorten the middle of the road line highway section between second point of crossing and the 3rd point of crossing and locate the 3rd point of crossing with respect to the road section that sails into of first point of crossing, both clearly show one's color in the view image of point of crossing so that make the 3rd point of crossing and roll road section away from.Use described short middle of the road line highway section to produce the point of crossing view image that is shown one's color in first, second and third point of crossing then.
In this embodiment, the road geometry of three point of crossing must be mapped in four districts rather than three districts.Second and third district can have and defines size in advance.Also possible is, the total length in second and third district through define in advance and described district in each size corresponding to each the characteristic in the middle of the road line highway section.In this way, middle of the road line highway section between first point of crossing and second point of crossing and the ratio between the middle of the road line highway section between second point of crossing and the 3rd point of crossing are shown one's color.
In addition, can produce in order to the arrow of indication along the preferred maneuvering command of three point of crossing, thus its approaching situation that in the short relatively time cycle, must make three decision-makings of driver.
The method according to this invention can as shown in Figure 5 computing machine arrange or computer-implemented system on carry out.
In Fig. 5, provide the general introduction that is suitable for implementing computing machine layout 500 of the present invention.Computing machine arranges that 500 comprise the processor 511 that is used to implement arithmetical operation.Processor 511 is connected to a plurality of memory assemblies, comprises hard disk 512, ROM (read-only memory) (ROM) 513, Electrically Erasable Read Only Memory (EEPROM) 514 and random-access memory (ram) 515.Described memory assembly comprises computer program, and described computer program comprises data, that is, and and through arranging to allow processor 511 to carry out the instruction that is used to produce the method for complex cross point view according to of the present invention.All these type of memory may not be provided.In addition, these memory assemblies do not need physically to locate near processor 511, but can be away from processor 511 location.The digital map database that is associated with described method can or can not be stored as the part of computing machine layout 500.For instance, can come the described digital map database of access via the network service.
The reading unit 519 that is connected to processor 511 can be provided.Reading unit 519 is through arranging with from detachable data carrier or detachable medium (as floppy disk 520 or CDROM 521) reading of data and may write data thereon.Other detachable data carrier can be tape, DVD, CD-R, DVD-R, memory stick, solid-state memory (SD card, USB rod) compact flash, HD DVD, blue light etc., and is known as the those skilled in the art.Both are technician's known processor readable media usually for detachable data carrier and memory assembly.
In addition, processor 511 can be connected to communication network 527 by I/O member 525, for example public switch telephone network (PSTN), Local Area Network, wide area network (WAN), WLAN (WLAN), GPRS, UMTS, the Internet etc.Processor 511 can be through arranging to communicate by letter with other communication arrangement via network 527.
Data carrier 520,521 can comprise the computer program of data and instruction type, and described data and instruction are through arranging the ability of carrying out the method according to this invention to provide to processor.Yet perhaps, this computer program can download in the memory assembly via communication network 527.
The assembly that is contained in the computer system of Fig. 5 those assemblies in general-purpose computing system, finding usually, and plan is illustrated in the wide variety of well-known these computer modules in the affiliated technology.
Therefore, the computer system of Fig. 5 can be mancarried device, for example PDA, guider, personal computer, workstation, small-size computer, mainframe computer etc.Described computing machine also can comprise different bus configuration, network type platform, multi processor platform etc.Various operating systems be can use, UNIX, Solaris, Linux, Windows, Macintosh OS and other suitable operating system comprised.
The method that the treatment in accordance with the present invention spatial data changes message also is very suitable for being implemented in the navigational system that comprises digital map database.This type of navigational system can make up at vehicle (for example, automobile, lorry, truck, motorcycle) or mobile device (PDA(Personal Digital Assistant), mobile phone, handheld computer or personal navigation apparatus).Under described situation, navigational system comprises the computer-implemented system of the parts that have as shown in Figure 5.Computer-readable memory carries numerical map.Described computer-implemented system further comprises and is used to import the destination with the route of planning described destination and the input media of retrieving the actual position information of navigational system.When Planned Route is advanced, described system will be near point of crossing (that is decision point) time through defining time showing point of crossing view.When next decision point of expection is defining time or distance when interior in advance, navigational system will be carried out the method according to this invention, with underway generation make two point of crossing (that is decision point) and corresponding maneuvering command in a point of crossing view image, show one's color and on display unit output described image the point of crossing view.In navigational system, can use actual driving speed estimate from first point of crossing to second point of crossing traveling time and in order to the decision user whether near the characteristic of complex cross point.If the user drives fast, when slowly driving, same routes compares with the user so, and more situation will be recognized as the complex cross point.Therefore, will to make two continuous point of crossing still be that two indivedual simple point of crossing views are shown one's color and will be depended on actual driving speed as a complex cross point view to navigational system.
If the present invention is used for strengthening existing digital map database with complex cross point view, so described method further comprises the action of complex cross being put that view is stored in the database and the described complex cross point view and first point of crossing in the described digital map database being linked.Wherein the database of storage crosspoint view can be the part of described digital map database or the accompanying document that is associated with described digital map database.The form of the accompanying document that the database product that comprises the point of crossing view according to the present invention can be the numerical data base that comprises the point of crossing view, be associated with numerical map on being stored in the processor readable media.For the point of crossing view of this type of precomputation, do not know the speed limit in real-time vehicle speed and past that can be from map data base or also the function classification of road in database derive estimating speed.
For graphic extension and illustrative purposes, above the present invention is had been described in detail.Described example only shows bifurcated, but the present invention also can be used for trident and even more complicated point of crossing.It is not to be intended as exhaustive or to limit the invention to the definite form that is disclosed, and makes many modifications and variation according to above teaching with may be obvious that.The selection of the embodiment that describes is intended to explain best principle of the present invention and practical application thereof, thereby makes the those skilled in the art can be conceived the various embodiment forms of application-specific to be suitable for and use various modifications to utilize the present invention best.Scope of the present invention plans to be defined by appended claims.
Claims (18)
1. method that produces the point of crossing view image, described method comprises:
Obtain first point of crossing from map data base;
Obtain second point of crossing from described map data base, wherein said first point of crossing is connected by middle of the road line highway section with second point of crossing;
Determine characteristic from described first point of crossing and the described middle of the road line highway section between second point of crossing of described map data base; And
If the described characteristic of described road section is applicable to the condition that defines in advance, then:
Adjust road geometry, thereby produce short middle of the road line highway section; And
Use described short middle of the road line highway section to produce the point of crossing view image that is shown one's color in described first and second point of crossing.
2. method according to claim 1, wherein said method further comprises:
Obtain the described road geometry of the described road section that forms described first and second point of crossing; And wherein
Adjust described road geometry and carry out an operation, described operation is rolled the highway section away to obtain the road geometry through adjusting corresponding to moving described second point of crossing towards described first point of crossing and being associated, and wherein said generation action is suitable for producing the point of crossing view image corresponding to described road geometry through adjusting.
3. method according to claim 2, wherein adjust described road geometry through arranging so that described road geometry is mapped in first, second and third district, each has first, second and third corresponding section length respectively described district, and second boundary line that first boundary line is located and described second point of crossing is mapped between described second district and the 3rd district that wherein said first point of crossing is mapped between described first district and second district is located.
4. method according to claim 3, wherein said road geometry is included in that place, described first point of crossing finishes sails middle the highway section between highway section, described first point of crossing and second point of crossing into and rolls the highway section away from two or more of described second highway section place's beginning, wherein adjusts described road geometry and comprises along the described middle highway section of the direction transformation that is parallel to the direction of sailing section into so that described middle highway section is mapped in described second district.
5. method according to claim 4, the described road geometry of wherein said adjustment further comprise because of the described conversion in highway section in the middle of described rolls the highway section away from along described two or more of vectorial translation that are equivalent to the translation of described second point of crossing.
6. according to the described method of arbitrary claim in the claim 3 to 5, wherein adjust described road geometry and further comprise with so that the level and smooth filter action of described road geometry, described filter action is carried out after described road geometry being mapped in the respective area.
7. according to the described method of arbitrary claim in the claim 1 to 6, it further comprises:
Produce the maneuvering command that passes through described first and second point of crossing according to modified geometric configuration; And wherein producing described point of crossing view image further is superimposed on described the showing one's color of described first and second point of crossing with the view with described maneuvering command through arranging.
8. according to the described method of arbitrary claim in the claim 1 to 7, wherein said characteristic is that the length and the described condition of the described road section between described first point of crossing and second point of crossing is that described length is in the pre-confining spectrum.
9. method according to claim 8, wherein said pre-confining spectrum are 20 meters to 300 meters.
10. according to the described method of arbitrary claim in the claim 1 to 7, wherein said characteristic for and described first point of crossing be associated with described road section between second point of crossing advance to the needed traveling time in described second point of crossing from described first point of crossing through defining gait of march, or advance to the needed traveling time in described second point of crossing from described first point of crossing with the measured measured gait of march that is associated with real-time speed vehicle of onboard navigation system, and described condition is that described traveling time is shorter than the value of defining in advance.
11. method according to claim 10, wherein said value of defining in advance is 10 seconds.
12. according to the described method of arbitrary claim in the claim 1 to 11, wherein said method further is included in output complex cross point view on the display unit.
13. according to the described method of arbitrary claim in the claim 1 to 12, wherein said method further comprises and described complex cross point view is stored in the database and the described complex cross point view in the described database is linked to described first point of crossing in the digital map database.
14. according to the described method of arbitrary claim in the claim 1 to 13, wherein said method further comprises:
Obtain the 3rd point of crossing from described map data base, wherein said second point of crossing is connected by middle of the road line highway section with the 3rd point of crossing;
Determine characteristic from described second point of crossing and the described middle of the road line highway section between the 3rd point of crossing of described map data base; And
If the described characteristic in the described middle of the road line highway section between described second point of crossing and the 3rd point of crossing is applicable to the condition that defines in advance, then:
Adjust described road geometry, thereby produce the short middle of the road line highway section between described second point of crossing and the 3rd point of crossing; And
Generation is through adjusting to use described short middle of the road line highway section to produce the described point of crossing view image that is shown one's color in described first, second and third point of crossing.
15. computer-implemented system that is used to produce complex cross point view, described system comprises processor (511) and is connected to the storer (512,513,514,515) of described processor, described storer comprises computer program, and described computer program comprises through arranging to allow described processor (511) to carry out the data and the instruction of any one in the described method according to claim 1 to 14.
16. a computer program, it comprises and can arrange loaded data and instruction by computing machine, thereby allows described computing machine to arrange to carry out according in the described method of claim 1 to 14 any one.
17. processor readable media that possesses computer program, described computer program comprises and can arrange loaded data and instruction by computing machine, thereby allows described computing machine to arrange to carry out according in the described method of claim 1 to 14 any one.
18. a database product, it comprises by one or more complex cross point views according to any one generation in the described method of claim 1 to 14.
Applications Claiming Priority (1)
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| PCT/NL2008/050523 WO2010013997A1 (en) | 2008-07-30 | 2008-07-30 | Method of and computer implemented system for generating a junction view image |
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| CN102037327A true CN102037327A (en) | 2011-04-27 |
| CN102037327B CN102037327B (en) | 2014-12-03 |
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| EP (1) | EP2335023B1 (en) |
| JP (1) | JP5197848B2 (en) |
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| AU (1) | AU2008360066A1 (en) |
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| CA (1) | CA2726333A1 (en) |
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| CN104776855A (en) * | 2015-03-17 | 2015-07-15 | 腾讯科技（深圳）有限公司 | Crossroad navigation method and apparatus |
| CN105365819A (en) * | 2014-08-11 | 2016-03-02 | 丰田自动车株式会社 | Driving assistance apparatus and driving assistance method |
| CN106323308A (en) * | 2015-07-02 | 2017-01-11 | 集奥数字国际有限公司 | Attributed roadway trajectories for self-driving vehicles |
| CN109214342A (en) * | 2018-09-13 | 2019-01-15 | 百度国际科技（深圳）有限公司 | Method and apparatus for obtaining image |
| CN113434614A (en) * | 2020-03-23 | 2021-09-24 | 北京四维图新科技股份有限公司 | Map data association method and device and electronic equipment |
| CN117091620A (en) * | 2023-10-20 | 2023-11-21 | 腾讯科技（深圳）有限公司 | Navigation method, navigation device, computer equipment and computer readable storage medium |
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| CN108871354B (en) * | 2017-05-11 | 2021-07-06 | 腾讯科技（深圳）有限公司 | Road information processing method and processing system |
| CN113901342B (en) * | 2021-09-30 | 2022-07-26 | 北京百度网讯科技有限公司 | Road network data processing method and device, electronic equipment and storage medium |
| CN115507866B (en) * | 2022-09-20 | 2024-01-12 | 北京百度网讯科技有限公司 | Map data processing method and device, electronic equipment and medium |
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- 2008-07-30 CN CN200880129273.9A patent/CN102037327B/en active Active
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| CN104776855A (en) * | 2015-03-17 | 2015-07-15 | 腾讯科技（深圳）有限公司 | Crossroad navigation method and apparatus |
| CN104776855B (en) * | 2015-03-17 | 2018-03-13 | 腾讯科技（深圳）有限公司 | The air navigation aid and device of a kind of intersection |
| CN106323308A (en) * | 2015-07-02 | 2017-01-11 | 集奥数字国际有限公司 | Attributed roadway trajectories for self-driving vehicles |
| CN106323308B (en) * | 2015-07-02 | 2019-02-05 | 阿什尔有限公司 | It pre-processes the method for road data, drive road vehicle and its control method certainly |
| CN109214342A (en) * | 2018-09-13 | 2019-01-15 | 百度国际科技（深圳）有限公司 | Method and apparatus for obtaining image |
| CN113434614A (en) * | 2020-03-23 | 2021-09-24 | 北京四维图新科技股份有限公司 | Map data association method and device and electronic equipment |
| CN113434614B (en) * | 2020-03-23 | 2024-08-06 | 北京四维图新科技股份有限公司 | Map data association method and device and electronic equipment |
| CN117091620A (en) * | 2023-10-20 | 2023-11-21 | 腾讯科技（深圳）有限公司 | Navigation method, navigation device, computer equipment and computer readable storage medium |
| CN117091620B (en) * | 2023-10-20 | 2024-02-06 | 腾讯科技（深圳）有限公司 | Navigation method, navigation device, computer equipment and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102037327B (en) | 2014-12-03 |
| EP2335023A1 (en) | 2011-06-22 |
| US8773458B2 (en) | 2014-07-08 |
| AU2008360066A1 (en) | 2010-02-04 |
| US20110069087A1 (en) | 2011-03-24 |
| WO2010013997A1 (en) | 2010-02-04 |
| BRPI0822714A2 (en) | 2015-07-07 |
| JP5197848B2 (en) | 2013-05-15 |
| JP2011529599A (en) | 2011-12-08 |
| CA2726333A1 (en) | 2010-02-04 |
| EP2335023B1 (en) | 2012-07-11 |
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Address after: Amsterdam Applicant after: Tongteng Global Information Co., Ltd. Address before: Eindhoven Applicant before: Tele Atlas B. V. |
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